METHOD AND DEVICE FOR CALCULATING VEHICLE BODY ROLL ANGLE OF MOTORCYCLE

摘要

PROBLEM TO BE SOLVED: To provide a method and device for calculating a vehicle body roll angle of a motorcycle, which can enhance the accuracy of calculation and reduce a processing time of a vehicle roll angle.SOLUTION: The method for calculating the vehicle body roll angle of the motorcycle 10 has a step of calculating the vehicle body roll angle through the utilization of a motion equation expressed by employing the weight of a vehicle body of the motorcycle 10, a detected vehicle velocity v of the motorcycle 10, a yaw angular velocity d/dt in a yaw direction around a vertical axis of the vehicle body of the motorcycle 10 and a roll angular velocity d/dt in a roll direction around a longitudinal axis of the vehicle body. The motion equation has a moment item expressing a moment by the weight of the vehicle at turning, a centrifugal force item expressing a centrifugal force of the vehicle body, a roll inertia item expressing an inertia moment in a roll direction of the vehicle body and a roll damping item expressing a rotation resistant torque in the roll direction by a friction between each tire of the motorcycle 10 and a road surface.